Three-axis output active power device for photovoltaic cleaning

Abstract

The application discloses a three-shaft output driving force device for photovoltaic cleaning, which comprises a box body, a walking wheel shaft one, a walking wheel shaft two and a driven connecting shaft; the output shaft of the driving part extends into the box body and is connected with the driving shaft; the walking wheel shaft one, the walking wheel shaft two and the driven connecting shaft are all rotationally connected with the box body; the driving shaft and the walking wheel shaft one and the driven shaft and the driven connecting shaft are all connected through a power switching mechanism; the power switching mechanism comprises a support seat fixed with the corresponding driving shaft or driven shaft, a driving friction ring sleeved on the corresponding driving shaft or driven shaft, a driven friction ring connected with the corresponding walking wheel shaft one or driven connecting shaft and an electromagnet installed on the support seat close to the driving friction ring side. The application realizes flexible starting, can significantly reduce the load of the driving part in the initial state of starting, relieve the heating condition of the driving part during operation and improve the service life of the driving part.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic cleaning technology, and in particular to a three-axis output power device for photovoltaic cleaning. Background Technology

[0002] A photovoltaic (PV) cleaning robot is a mechanical device installed on PV modules to periodically clean the surface of the modules, preventing dust from affecting the effective irradiation of the PV modules. The power unit of the PV cleaning robot is a crucial component, enabling it to move stably and clean the PV modules.

[0003] In the prior art, Chinese invention patent CN112354924A discloses an obstacle-crossing photovoltaic cleaning robot, including a main body, first and second walking components at both ends of the main body, a roller brush assembly, a drive shaft, and an electrical control box; the first walking component includes a drive motor, a first walking wheel, and a first linkage gear, both of which are driven by the drive motor; the second walking component includes a roller brush motor, a second walking wheel, and a second linkage gear, with the second walking wheel driven by the second linkage gear; the roller brush assembly rotatably engages between the first and second walking components and is driven by the roller brush motor; the drive shaft is located between the first and second walking components, with both ends coaxially connected to the first and second linkage gears, and the drive shaft is positioned higher than the roller brush assembly; the cleaning robot moves along the photovoltaic panel through the two walking components, and the drive motor on the first walking component drives the first and second walking wheels to move synchronously, while the side-mounted suspension wheels limit the robot's movement, ensuring stable operation on the photovoltaic panel; another example is prior art, CN 116586394... Chinese invention patent A discloses a mechanism for preventing jamming and correcting deviation in a photovoltaic cleaning robot, as well as the photovoltaic cleaning robot itself. The mechanism includes a follower arm, side wheels, a swing arm shaft, a swing detection element, and an elastic reset component. The middle of the follower arm is rotatably mounted on a mounting frame on one side of the photovoltaic cleaning robot via the swing arm shaft. The side wheels are mounted at both ends of the follower arm. The elastic reset component is located on the mounting frame and acts elastically on the axle of the follower arm or side wheels. The swing detection element is also located on the mounting frame. The robot moves on the photovoltaic panel via its lower traveling wheels and is limited by the side wheels, ensuring stable operation on the photovoltaic panel.

[0004] When the above solution is implemented, since the photovoltaic panels are tilted and facing the sun, the cleaning robot needs to move along the tilted photovoltaic panels. When the cleaning robot starts at the lower end of the photovoltaic panel, it is in a climbing state. At this time, the power unit of the cleaning robot is under high load, and the drive shaft of the motor directly drives the walking wheels. In the initial running state, the motor is prone to damage and reduce its service life. Summary of the Invention

[0005] Based on this, it is necessary to provide a three-axis output power device for photovoltaic cleaning to address the above-mentioned technical problems, so as to achieve the purpose of flexible start-up, significantly reduce the load on the drive components in the initial start-up state, alleviate the heat generation of the drive components during operation, and improve the service life of the drive components.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A three-axis output power device for photovoltaic cleaning includes: A housing, on which a drive unit is mounted, the output shaft of which extends into the housing and is connected to the drive shaft; The system includes a first traveling wheel axle, a second traveling wheel axle, and a driven connecting shaft. All three are rotatably connected to the housing. The first traveling wheel axle is linked to the second traveling wheel axle via a gear set. The driving shaft is connected to the driven shaft via a gear set. The driving shaft is rotatably connected to the first traveling wheel axle, and the driven shaft is rotatably connected to the driven connecting shaft. Furthermore, the driving shaft is linked to the first traveling wheel axle, and the driven shaft is linked to the driven connecting shaft via a power switching mechanism. The power switching mechanism includes a support base fixed to the corresponding drive shaft or driven shaft, a drive friction ring sleeved on the corresponding drive shaft or driven shaft, a driven friction ring connected to the corresponding travel wheel axle or driven connecting shaft, and an electromagnet installed on the support base near the drive friction ring. By controlling the electromagnet to work, the drive friction ring is pushed towards the driven friction ring. The inner ring of the drive friction ring slides along the axial direction of the drive shaft through a spline. The housing is equipped with a main speed sensor corresponding to the drive shaft, a secondary speed sensor one corresponding to the travel wheel axle, and a secondary speed sensor two corresponding to the driven connecting shaft.

[0007] In a preferred embodiment of the photovoltaic cleaning triaxial output power device provided by the present invention, a push ring is provided between the active friction ring and the support base. A magnet is installed on the push ring at the position corresponding to the electromagnet. When the electromagnet is energized, it generates magnetism that repels the magnet. The electromagnet installed on the support base generates magnetism and pushes the push ring to move. The push ring pushes the active friction ring to move along the axis of the active shaft toward the driven friction ring and abuts against the driven friction ring.

[0008] In a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, a power intelligent controller is installed on the housing. The power intelligent controller is equipped with a power detection module, a processing module, and a power control module. The power detection module is connected to the processing module, the main speed sensor, the first secondary speed sensor, and the second secondary speed sensor. The processing module is connected to the power control module and the drive component. The power control module is connected to the electromagnet. In the initial stage of drive component startup, the power detection module judges the rotational speed of the drive shaft, the first walking wheel axle, and the driven connecting shaft. When the speed difference is large, the power control module performs a flexible start-up, reduces the initial load of the drive component, and gradually controls the rotational speed of the first walking wheel axle and the driven connecting shaft to achieve synchronous drive. This achieves the purpose of automated and intelligent control drive, which can significantly reduce the load of the drive component in the initial startup state, alleviate the heat generation of the drive component during operation, and improve the service life of the drive component.

[0009] As a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, the driven friction ring and the active friction ring are provided with friction layers on their opposing surfaces. The friction layers are composed of rubber particles, which enable the driven friction ring to gradually rotate synchronously with the active friction ring when the opposing surfaces of the driven friction ring and the active friction ring abut against each other, and achieve synchronous rotation when the driven friction ring and the active friction ring are tightly abutted against each other.

[0010] In a preferred embodiment of the photovoltaic cleaning triaxial output power device provided by the present invention, multiple docking rods are circumferentially distributed around the outer ring of the driven friction ring. A docking groove is formed at the corresponding position of the active friction ring and the docking rod. A magnet is installed at the front end of each docking rod, and a magnet is embedded in the docking groove that is magnetically attracted to the magnet on the docking rod. As the active friction ring gradually approaches and tightly contacts the driven friction ring, the magnet on the docking rod attracts the magnet in the docking groove. At this time, the docking rod inserts into the docking groove, locking the driven and active friction rings together, enabling them to rotate synchronously and reducing the speed difference between them. This ensures stable synchronous rotation between the active shaft and the walking wheel axle, as well as between the driven shaft and the driven connecting shaft.

[0011] In a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, the inner ring of the driven friction ring is provided with multiple limiting blocks. Each driven friction ring is engaged with a corresponding walking wheel axle or driven connecting shaft through the limiting block. Pressure sensor 1 and pressure sensor 2 are respectively installed on both sides of one of the limiting blocks. When the forward direction of the cleaning device is tilted upward, the driving component works and drives the driven friction ring to rotate. The driven friction ring rotates and drives the walking wheel axle to rotate. During this process, the driven friction ring drives the limiting block to generate pressure on pressure sensor 1. Conversely, when the forward direction of the cleaning device is tilted downward, the roller drives the walking wheel axle to rotate. The walking wheel axle drives the driven friction ring to rotate. During this process, the walking wheel axle generates pressure on pressure sensor 2.

[0012] In a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, the power controller is further equipped with an energy-saving module. The energy-saving module is connected to the processing module, pressure sensor one, and pressure sensor two. When the processing module controls the drive unit to move the cleaning equipment forward, if the forward direction of the cleaning equipment is tilted upward, the energy-saving module receives the pressure data fed back by pressure sensor one and determines that the forward direction of the cleaning equipment is tilted upward. At this time, the processing module normally controls the drive unit to work and drive the cleaning equipment. If the forward direction of the cleaning equipment is tilted downward, the energy-saving module receives the pressure data fed back by pressure sensor two and determines that the forward direction of the cleaning equipment is tilted downward. At this time, the energy-saving module sends an energy-saving signal to the processing module, and the processing module controls the drive unit to stop working. At this time, the cleaning equipment moves downward along the tilted photovoltaic panel by gravity, which can save energy by utilizing the gravity of the cleaning equipment itself.

[0013] In a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, the docking rod is arranged through the driven friction ring. Each docking rod and the end away from the active friction ring are equipped with a reset elastic element between the active friction ring and the driven friction ring. When the active friction ring is controlled to move away from the driven friction ring, the active friction ring and the driven friction ring are in an unlocked state. At this time, the reset elastic element will push the docking rod to reset and disengage from the docking groove.

[0014] As a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, the connection points of the first walking wheel axle, the second walking wheel axle, and the driven connecting shaft with the housing are all equipped with UV-resistant oil seals, which can reduce the entry of external dust into the rotating shaft, improve its smoothness during rotation, and reduce the maintenance cycle.

[0015] In a preferred embodiment of the three-axis output power device for photovoltaic cleaning provided by the present invention, the gear set is a bevel gear set. The output shaft of the drive unit is linked to the drive shaft through the reduction gear set. The first walking wheel axle drives the second walking wheel axle to rotate through the bevel gear set. The drive shaft drives the driven shaft to rotate through the bevel gear set, thereby achieving the purpose of stable control. Through the action of the bevel gear set, the drive shaft and the driven shaft are at the same speed, which facilitates the synchronous rotation of the rollers located on both sides of the photovoltaic panel through the power device.

[0016] Compared with the prior art, the present invention has at least one of the following beneficial effects: 1. During power transmission between the drive shaft and the first axle of the traveling wheel, the rotation of the drive shaft synchronously drives the rotation of the drive friction ring. By controlling the operation of the electromagnet, the output end of the electromagnet generates magnetism and pushes the drive friction ring towards the driven friction ring. As the opposing surfaces of the drive and driven friction rings gradually come into contact, the driven friction ring is gradually driven to rotate. When the drive and driven friction rings are fully in contact, they rotate synchronously, thus synchronously driving the first axle of the traveling wheel to rotate. This achieves the goal of gradually controlling the first axle of the traveling wheel to reach the same speed as the drive shaft while keeping the speed of the drive shaft constant. Similarly, through... The power switching mechanism installed between the driven shaft and the driven connecting shaft can gradually drive the driven connecting shaft to reach the same speed as the driven shaft. In the initial state of the drive component's start-up, the drive shaft and the driven shaft rotate at normal speeds. At this time, by controlling the operation of the electromagnet, the drive friction ring is pushed closer to the driven friction ring, which can gradually control the rotation of the corresponding walking wheel axle and the driven connecting shaft, and achieve the purpose of rotating synchronously with the drive shaft. This achieves the purpose of flexible start-up, which can significantly reduce the load on the drive component in the initial state of start-up, alleviate the heat generation of the drive component during operation, and improve the service life of the drive component.

[0017] 2. The driving components are adjusted to operate based on the upward or downward state of the pressure sensor 1 and pressure sensor 2 located in the drive wheel shaft 1 or driven coupling shaft, thereby achieving energy-saving effect according to the actual working conditions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 The main view provided by the present invention Figure 1 ; Figure 3 The main view provided by the present invention Figure 2 ; Figure 4 The control principle block diagram of the power intelligent controller provided by the present invention; Figure 5 A schematic diagram of the power switching mechanism provided by the present invention; Figure 6 Provided by the present invention Figure 5 Enlarged view of point A in the middle; Figure 7 A cross-sectional view of the driven friction ring and the traveling wheel axle provided by the present invention; Figure 8 This is a schematic diagram of the force state of a pressure sensor when it is tilted upwards along an inclined surface, as provided by the present invention. Figure 9 This is a schematic diagram of the force state of the pressure sensor II when it is tilted downwards along the inclined surface, as provided by the present invention.

[0020] The markings in the diagram are explained as follows: 1. Housing; 2. Drive unit; 3. Power controller; 4. Walking wheel axle one; 5. Walking wheel axle two; 6. Driven connecting shaft; 7. Gear set; 8. Drive shaft; 9. Power switching mechanism; 10. Main speed sensor; 11. Secondary speed sensor one; 12. Driven shaft; 13. Driven friction ring; 14. Active friction ring; 15. Push ring; 16. Support base; 17. Electromagnet; 18. Connecting rod; 19. Connecting groove; 20. Limiting block; 21. Pressure sensor one; 22. Pressure sensor two; 23. Secondary speed sensor two. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the embodiments of the present invention can be combined with each other.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Example 1

[0024] Please refer to Figures 1-3 A three-axis output power device for photovoltaic cleaning includes a housing 1, a first walking wheel axle 4, a second walking wheel axle 5, and a driven connecting shaft 6. A drive unit 2 is mounted on the housing 1, and the output shaft of the drive unit 2 extends into the housing 1 and is connected to a drive shaft 8. When driven by the drive unit 2, the drive unit 2 rotates the drive shaft 8 via its output shaft. The first walking wheel axle 4, the second walking wheel axle 5, and the driven connecting shaft 6 are all rotatably connected to the housing 1. The first walking wheel axle 4 is linked to the second walking wheel axle 5 via a gear set 7. The drive shaft 8 is connected to a driven shaft 12 via the gear set 7. The drive shaft 8 is rotatably connected to the first walking wheel axle 4, and the driven shaft 12 is rotatably connected to the driven connecting shaft 6. The drive shaft 8 and the first walking wheel axle 4, as well as the driven shaft 12 and the driven connecting shaft 6, are all linked via a power switching mechanism 9. The first walking wheel axle 4 and the second walking wheel axle 5 are all rotatably connected to the drive shaft 6. The second walking wheel axle 5 is installed on one side of the cleaning equipment. Rollers are installed on the first walking wheel axle 4 and the second walking wheel axle 5. The rollers roll along the front and side of one side of the photovoltaic panel. Similarly, the driven connecting shaft 6 is used to drive the rollers on the other side of the cleaning equipment to rotate and roll along the front and side of the other side of the photovoltaic panel, so that the cleaning equipment can move stably along the photovoltaic panel and provide walking power for the cleaning equipment. In specific driving, the rotating drive shaft 8 drives the first walking wheel axle 4 to rotate through the power switching mechanism 9. The first walking wheel axle 4 drives the second walking wheel axle 5 to rotate through the gear set 7. At the same time, the drive shaft 8 drives the driven shaft 12 to rotate through the gear set 7. The driven shaft 12 drives the driven connecting shaft 6 to rotate through the corresponding power switching mechanism 9, thereby driving through a single drive component 2 and improving the stability of the cleaning equipment operation.

[0025] It is worth mentioning that, such as Figures 5-6As shown, the power switching mechanism 9 includes a support base 16 fixed to the corresponding drive shaft 8 or driven shaft 12, a drive friction ring 14 sleeved on the corresponding drive shaft 8 or driven shaft 12, a driven friction ring 13 connected to the corresponding travel wheel axle 4 or driven connecting shaft 6, and an electromagnet 17 installed on the support base 16 near the drive friction ring 14. By controlling the operation of the electromagnet 17, the drive friction ring 14 is pushed towards the driven friction ring 13. The inner ring of the drive friction ring 14 slides along the axial direction of the drive shaft 8 via a spline. By setting the power switching mechanism 9, when power is transmitted between the drive shaft 8 and the travel wheel axle 4, the rotation of the drive shaft 8 will synchronously drive the drive friction ring 14 to rotate. By controlling the operation of the electromagnet 17, the output end of the electromagnet 17 generates magnetism and pushes the drive friction ring 14 towards the driven friction ring 13. As the opposing surfaces of the drive friction ring 14 and the driven friction ring 13 gradually come into contact, the driven friction ring 14 will be gradually driven towards the driven friction ring 13. 3. When the active friction ring 14 and the driven friction ring 13 are fully in contact, they rotate synchronously, thereby synchronously driving the walking wheel axle 4 to rotate. This achieves the purpose of gradually controlling the walking wheel axle 4 to reach the same speed as the active shaft 8 while keeping the speed of the active shaft 8 constant. Similarly, through the power switching mechanism 9 installed between the driven shaft 12 and the driven connecting shaft 6, the driven connecting shaft 6 can be gradually driven to reach the same speed as the driven shaft 12. In the initial state of the drive component 2, the active shaft 8 and the driven shaft 12 rotate at normal speeds. At this time, by controlling the operation of the electromagnet 17, the active friction ring 14 is pushed to gradually approach the driven friction ring 13, which can gradually control the corresponding walking wheel axle 4 and the driven connecting shaft 6 to rotate, and achieve the purpose of rotating synchronously with the active shaft 8. This achieves the purpose of flexible start-up, which can significantly reduce the load on the drive component 2 in the initial state of start-up, alleviate the heat generation of the drive component 2 during operation, and improve the service life of the drive component 2.

[0026] In addition, such as Figure 2 As shown, the housing 1 is equipped with a main speed sensor 10 corresponding to the drive shaft 8, a secondary speed sensor 11 corresponding to the first axle of the first traveling wheel 4, and a secondary speed sensor 23 corresponding to the second driven connecting shaft 6. The main speed sensor 10 detects the rotational speed of the drive shaft 8, and the secondary speed sensors 11 and 23 detect the rotational speeds of the corresponding first traveling wheel 4 and second driven connecting shaft 6. This allows the acquisition of the rotational speed difference between the drive shaft 8 and the first traveling wheel 4 and second driven connecting shaft 6. Based on the rotational speed difference, the working state of the electromagnet 17 is controlled, thereby controlling the docking state of the active friction ring 14 and the driven friction ring 13 until the first traveling wheel 4 and the driven connecting shaft 6 reach the same rotational speed as the drive shaft 8. This facilitates the adjustment of the working state of the electromagnet 17 and the docking state of the active friction ring 14 and the driven friction ring 13.

[0027] In this embodiment, as Figure 6As shown, a pushing ring 15 is provided between the active friction ring 14 and the support base 16. A magnet is installed on the pushing ring 15 at the position corresponding to the electromagnet 17. When the electromagnet 17 is energized, it generates magnetism that repels the magnet. The operation of the electromagnet 17 installed on the support base 16 generates magnetism and pushes the pushing ring 15 to move. The pushing ring 15 pushes the active friction ring 14 to move along the axis of the active shaft 8 toward the driven friction ring 13 and abut against the driven friction ring 13. The opposing surfaces of the driven friction ring 13 and the active friction ring 14 are provided with friction layers composed of rubber particles. When the opposing surfaces of the driven friction ring 13 and the active friction ring 14 abut against each other, the driven friction ring 13 gradually rotates synchronously with the active friction ring 14. When the driven friction ring 13 and the active friction ring 14 are tightly abutted against each other, they achieve the purpose of synchronous rotation.

[0028] It is worth mentioning that you should refer to Figure 4The housing 1 is equipped with a power controller 3, which includes a power detection module, a processing module, and a power control module. The power detection module is connected to the processing module, the main speed sensor 10, the auxiliary speed sensor 11, and the auxiliary speed sensor 23. The processing module is connected to the power control module and the drive unit 2. The power control module is connected to the electromagnet 17. When driving the cleaning equipment, the processing module controls the drive unit 2 to operate, which in turn drives the drive shaft 8 and the driven shaft 12 to rotate. During this process, the power detection module receives the rotational speed data detected by the main speed sensor 10, the auxiliary speed sensor 11, and the auxiliary speed sensor 23, and records the movement... The rotational speed data of wheel axle 4 and driven connecting shaft 6 are compared with the rotational speed data of drive shaft 8. At this time, the rotational speed of drive shaft 8 is greater than that of wheel axle 4 and driven connecting shaft 6. The power detection module sends a flexible start signal to the processing module, and the processing module sends a control signal to the power control module. The power control module controls the electromagnet 17 to work and controls the output power of the electromagnet 17 to generate a corresponding magnetic field. The active friction ring 14 gradually comes into contact with the corresponding driven friction ring 13, thereby controlling the gradual rotation of wheel axle 4 and driven connecting shaft 6. The rotational speed of wheel axle 4 and driven connecting shaft 6 is fed back by secondary speed sensor 11 and secondary speed sensor 23, thus controlling the rotational speed of wheel axle 4. When shafts 4 and 6 rotate at the same speed, the cleaning equipment can move stably along the photovoltaic panel. Furthermore, when the power detection module determines that the speed difference between the walking wheel shafts 4 and 6 and the drive shaft 8 reaches a preset speed difference (the power detection module has a preset speed difference when the speeds of the walking wheel shafts 4 and 6 are close to those of the drive shaft 8), the power detection module determines that the speed difference between the walking wheel shafts 4 and 6 and the drive shaft 8 is small, and the drive shaft 8 can synchronously drive the walking wheel shafts 4 and 6 to rotate. At this time, the power detection module sends a synchronous drive signal to the processing module, and the processing module sends a synchronous drive signal to the power control module. The control module controls the electromagnet 17 to emit a preset maximum power. At this time, the active friction ring 14 is fully in contact with the driven friction ring 13, and the two rotate synchronously. Thus, in the initial stage of the start-up of the drive component 2, the power detection module judges the speed of the active shaft 8, the walking wheel axle 4, and the driven connecting shaft 6. When the speed difference is large, the power regulation module performs a flexible start-up, reduces the initial load of the drive component 2, and gradually controls the speed of the walking wheel axle 4 and the driven connecting shaft 6 to achieve the purpose of synchronous drive and realize the purpose of automated and intelligent control drive. This can significantly reduce the load of the drive component 2 in the initial start-up state, alleviate the heat generation of the drive component 2 during operation, and improve the service life of the drive component 2.

[0029] In this embodiment, as Figure 6As shown, multiple mating rods 18 are circumferentially distributed around the outer ring of the driven friction ring 13. A mating groove 19 is formed on the driving friction ring 14 corresponding to the mating rods 18. A magnet is installed at the front end of each mating rod 18, and a magnet is embedded in the mating groove 19 that is magnetically attracted to the magnet on the mating rod 18. When the driving friction ring 14 gradually approaches and tightly contacts the driven friction ring 13, the magnet on the mating rod 18 attracts the magnet in the mating groove 19. At this time, the mating rod 18 inserts into the mating groove 19, locking the driven friction ring 13 and the driving friction ring 14 together, allowing them to... The synchronous rotation reduces the speed difference between the two, enabling the active shaft 8 and the traveling wheel shaft 4, as well as the driven shaft 12 and the driven connecting shaft 6, to rotate stably and synchronously. The docking rod 18 is set through the driven friction ring 13. Each docking rod 18 has a reset elastic element installed between its end away from the active friction ring 14 and the driven friction ring 13. When the active friction ring 14 is controlled to move away from the driven friction ring 13, the active friction ring 14 and the driven friction ring 13 are in an unlocked state. At this time, the reset elastic element will push the docking rod 18 to reset and disengage from the docking groove 19.

[0030] Preferably, UV-resistant oil seals are provided at the connection points of the first walking wheel axle 4, the second walking wheel axle 5, and the driven connecting shaft 6 with the housing 1. This reduces the amount of external dust entering the rotating shaft, improves the smoothness of rotation, and reduces the maintenance cycle. The gear set 7 is a bevel gear set. The output shaft of the drive unit 2 is linked to the drive shaft 8 through the reduction gear set. The first walking wheel axle 4 drives the second walking wheel axle 5 to rotate through the bevel gear set, and the drive shaft 8 drives the driven shaft 12 to rotate through the bevel gear set, achieving the purpose of stable control. Through the action of the bevel gear set, the drive shaft 8 and the driven shaft 12 are at the same speed, which facilitates the synchronous rotation of the rollers located on both sides of the photovoltaic panel through the power device.

[0031] Two sets of bevel gear transmission outputs are used to achieve right-angle shaft output of the three axes. After the walking wheel is installed, the walking wheel axle 1 4 and the walking wheel axle 2 5 can achieve the walking effect at a right angle. The driven connecting shaft 6 output in the housing 1 provides power to the paired driven shaft. The original two brushless geared motors are reduced to one, reducing weight and energy loss. Example 2

[0032] The three-axis output power device for photovoltaic cleaning provided in Embodiment 1 is further optimized. Unlike the first embodiment, when the cleaning device moves upward along the inclined photovoltaic panel, the drive unit 2 needs to drive the cleaning device upward due to its gravity. However, when the cleaning device moves downward along the inclined photovoltaic panel, it can move downward autonomously due to its gravity. During these processes, the drive unit 2 is always in an active state, which increases its energy consumption. To reduce the energy consumption of the drive unit 2 during operation, please refer to [link to relevant documentation]. Figures 7-9The inner ring of the driven friction ring 13 is provided with multiple limiting blocks 20. Each driven friction ring 13 is engaged with the corresponding walking wheel axle 4 or driven connecting shaft 6 through the limiting block 20. Pressure sensor 1 21 and pressure sensor 22 are respectively installed on both sides of one of the limiting blocks 20. Both pressure sensor 1 21 and pressure sensor 22 are flexible thin film pressure sensors. The base of pressure sensor 1 21 and pressure sensor 22 is engaged in the limiting groove opened in the side wall of the keyway of the walking wheel axle 4 or driven connecting shaft 6. The strain gauge of the flexible thin film pressure sensor extends out from the limiting groove and abuts against the limiting block 20. The maximum pressure value of the flexible thin film pressure sensor can reach 10 kg. The power intelligent controller 3 is also provided with an energy-saving module, which is connected to the processing module, pressure sensor 1 21 and pressure sensor 22 respectively.

[0033] like Figure 8 As shown, when the cleaning equipment is tilted upwards in the forward direction, the drive unit 2 operates and drives the driven friction ring 13 to rotate. The driven friction ring 13 rotates and drives the walking wheel axle 4 to rotate. At this time, the limit block 20 squeezes the pressure sensor 21 to generate a pressure signal; as shown... Figure 9 As shown, when the cleaning direction is tilted downward, the roller will drive the walking wheel axle 4 to rotate, and the walking wheel axle 4 will drive the driven friction ring 13 to rotate. At this time, the limit block 20 squeezes the pressure sensor 22 to generate a pressure signal.

[0034] When the cleaning equipment moves forward under the control of the drive unit 2 via the processing module, the energy-saving module receives pressure data from pressure sensor 21 when the cleaning equipment is tilted upward, and determines that the cleaning equipment is tilted upward. At this time, the processing module normally controls the drive unit 2 to work and drive the cleaning equipment. When the cleaning equipment is tilted downward, the energy-saving module receives pressure data from pressure sensor 22, and determines that the cleaning equipment is tilted downward. At this time, the energy-saving module sends an energy-saving signal to the processing module, and the processing module controls the drive unit 2 to stop working. At this time, the cleaning equipment moves downward along the tilted photovoltaic panel by gravity, which can save energy by utilizing the gravity of the cleaning equipment itself.

[0035] Furthermore, when the cleaning equipment is in a backward state while moving forward, the energy-saving module will make opposite judgments based on the pressure data received from pressure sensor 21 and pressure sensor 22. Specifically, the energy-saving module receives the pressure data from pressure sensor 22 and determines that the backward direction of the cleaning equipment is tilted upward; the energy-saving module receives the pressure data from pressure sensor 21 and determines that the backward direction of the cleaning equipment is tilted downward. It can also be used in conjunction with existing distance sensors to determine the edge position of the cleaning equipment relative to the photovoltaic panel. When the cleaning equipment moves to the edge position of the photovoltaic panel, the drive unit 2 is controlled to decelerate and stop the cleaning equipment, preventing the cleaning equipment from falling along the photovoltaic panel.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A three-axis output power device for photovoltaic cleaning, characterized in that, include: A housing (1) is provided with a drive unit (2) installed on the housing (1). The output shaft of the drive unit (2) extends into the housing (1) and is connected to the drive shaft (8). The first (4), the second (5), and the driven connecting shaft (6) are all rotatably connected to the housing (1). The first (4) is linked to the second (5) through a gear set (7). The driving shaft (8) is connected to the driven shaft (12) through a gear set (7). The driving shaft (8) is rotatably connected to the first (4) and the driven shaft (12) is rotatably connected to the driven connecting shaft (6). The driving shaft (8) is linked to the first (4) and the driven shaft (12) is linked to the driven connecting shaft (6) through a power switching mechanism (9). The power switching mechanism (9) includes a support base (16) fixed to the corresponding drive shaft (8) or driven shaft (12), a drive friction ring (14) sleeved on the corresponding drive shaft (8) or driven shaft (12), a driven friction ring (13) connected to the corresponding walking wheel axle (4) or driven connecting shaft (6), and an electromagnet (17) installed on the support base (16) near the drive friction ring (14). By controlling the operation of the electromagnet (17), the drive friction ring (14) is pushed to move towards the driven friction ring (13). The inner ring of the drive friction ring (14) slides along the axial direction of the drive shaft (8) through a spline. The housing (1) is equipped with a main speed sensor (10) corresponding to the drive shaft (8), a secondary speed sensor (11) corresponding to the walking wheel axle (4), and a secondary speed sensor (23) corresponding to the driven connecting shaft (6).

2. The three-axis output power device for photovoltaic cleaning according to claim 1, characterized in that, A push ring (15) is provided between the active friction ring (14) and the support base (16). A magnet is installed on the push ring (15) at the position corresponding to the electromagnet (17). When the electromagnet (17) is energized, it generates a magnetism that repels the magnet.

3. The three-axis output power device for photovoltaic cleaning according to claim 1, characterized in that, The housing (1) is equipped with a power controller (3), which is provided with a power detection module, a processing module and a power control module. The power detection module is connected to the processing module, the main speed sensor (10), the secondary speed sensor one (11) and the secondary speed sensor two (23) respectively. The processing module is connected to the power control module and the drive unit (2) respectively. The power control module is connected to the electromagnet (17) respectively.

4. The three-axis output power device for photovoltaic cleaning according to claim 1, characterized in that, The driven friction ring (13) and the active friction ring (14) are provided with friction layers on their opposite surfaces, and the friction layers are composed of rubber particles.

5. A three-axis output power device for photovoltaic cleaning according to claim 4, characterized in that, The driven friction ring (13) has multiple docking rods (18) inserted into its outer circumference. The active friction ring (14) has docking grooves (19) corresponding to the docking rods (18). A magnet is installed at the front end of the docking rod (18). A magnet is embedded in the docking groove (19) and is attracted to the magnet on the docking rod (18).

6. A three-axis output power device for photovoltaic cleaning according to claim 3, characterized in that, The inner ring of the driven friction ring (13) is provided with multiple limiting blocks (20). Each driven friction ring (13) is engaged with the corresponding walking wheel axle (4) or driven connecting shaft (6) through the limiting block (20). Pressure sensor one (21) and pressure sensor two (22) are respectively installed on both sides of one of the limiting blocks (20).

7. A three-axis output power device for photovoltaic cleaning according to claim 6, characterized in that, The power controller (3) is also equipped with an energy-saving module, which is connected to the processing module, pressure sensor one (21) and pressure sensor two (22) respectively.

8. A three-axis output power device for photovoltaic cleaning according to claim 5, characterized in that, The docking rod (18) is disposed through the driven friction ring (13), and a reset elastic element is installed between the end of each docking rod (18) away from the active friction ring (14) and the driven friction ring (13).

9. A three-axis output power device for photovoltaic cleaning according to claim 1, characterized in that, UV-resistant oil seals are provided at the connection points of the first (4) and second (5) of the walking wheel axle and the driven connecting shaft (6) with the housing (1).

10. A three-axis output power device for photovoltaic cleaning according to claim 1, characterized in that, The gear set (7) is a bevel gear set, and the output shaft of the drive unit (2) is linked to the drive shaft (8) through the reduction gear set.

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